JP4875160B2 - Parts transfer device - Google Patents

Parts transfer device Download PDF

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Publication number
JP4875160B2
JP4875160B2 JP2009528923A JP2009528923A JP4875160B2 JP 4875160 B2 JP4875160 B2 JP 4875160B2 JP 2009528923 A JP2009528923 A JP 2009528923A JP 2009528923 A JP2009528923 A JP 2009528923A JP 4875160 B2 JP4875160 B2 JP 4875160B2
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cam
component
gripping
arm member
transfer device
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JPWO2009025052A1 (en
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勝義 橘
宗一 舘野
寿仁 関
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Hirata Corp
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Hirata Corp
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0407—Storage devices mechanical using stacker cranes
    • B65G1/0435—Storage devices mechanical using stacker cranes with pulling or pushing means on either stacking crane or stacking area
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G35/00—Mechanical conveyors not otherwise provided for
    • B65G35/06—Mechanical conveyors not otherwise provided for comprising a load-carrier moving along a path, e.g. a closed path, and adapted to be engaged by any one of a series of traction elements spaced along the path
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G49/00—Conveying systems characterised by their application for specified purposes not otherwise provided for
    • B65G49/05—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles
    • B65G49/06—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles for fragile sheets, e.g. glass
    • B65G49/061—Lifting, gripping, or carrying means, for one or more sheets forming independent means of transport, e.g. suction cups, transport frames
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G49/00—Conveying systems characterised by their application for specified purposes not otherwise provided for
    • B65G49/05—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles
    • B65G49/06—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles for fragile sheets, e.g. glass
    • B65G49/063—Transporting devices for sheet glass
    • B65G49/064—Transporting devices for sheet glass in a horizontal position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G49/00—Conveying systems characterised by their application for specified purposes not otherwise provided for
    • B65G49/05—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles
    • B65G49/06—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles for fragile sheets, e.g. glass
    • B65G49/068—Stacking or destacking devices; Means for preventing damage to stacked sheets, e.g. spaces
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
    • H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
    • H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
    • H01L21/677—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations
    • H01L21/67739—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations into and out of processing chamber
    • H01L21/67742—Mechanical parts of transfer devices
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
    • H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
    • H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
    • H01L21/677—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations
    • H01L21/67739—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations into and out of processing chamber
    • H01L21/67748—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations into and out of processing chamber horizontal transfer of a single workpiece
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2249/00—Aspects relating to conveying systems for the manufacture of fragile sheets
    • B65G2249/02—Controlled or contamination-free environments or clean space conditions

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Manufacturing & Machinery (AREA)
  • Condensed Matter Physics & Semiconductors (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Hardware Design (AREA)
  • Physics & Mathematics (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Supply And Installment Of Electrical Components (AREA)
  • Warehouses Or Storage Devices (AREA)
  • Specific Conveyance Elements (AREA)
  • Feeding Of Articles By Means Other Than Belts Or Rollers (AREA)
  • Manipulator (AREA)
  • Automatic Assembly (AREA)
  • Labeling Devices (AREA)

Description

本発明は、ラック（あるいは、マガジン、カセット等）に収納された部品を取り出して供給エリアに供給するための部品移送装置に関し、特に、電子部品のプリント基板、液晶基板、ガラス基板、薄板状のトレイ等の板状をなす部品の取り出しを行う部品移送装置に関する。 The present invention is a rack (or magazine, cassette, etc.) Remove the device housed in respect to the component transfer equipment to be supplied to the supply area, in particular, printed circuit board of the electronic component, a liquid crystal substrate, glass substrate, thin about the component transfer equipment to perform the extraction of components forming the Jo of trays of the plate.

従来の部品移送装置としては、プリント基板を複数段に亘って収納する基板運搬箱を水平及び上下方向に移動させる運搬箱移動手段、基板運搬箱からプリント基板を一枚ずつ取り出す基板取出手段等を備え、基板運搬箱を所定位置にセットしてステップ的に昇降させてプリント基板を所定の取出位置に位置決めし、基板取出手段によりプリント基板を一枚ずつ取り出して、下流側の供給エリア（実装機、検査機等）に供給する基板供給装置が知られている（例えば、特許文献１参照）。
この装置において、基板取出手段としては、プリント基板の下側から突起をプリント基板の最奥縁部に引っ掛けて、基板運搬箱からかき出すように作動するアーム部を備えたもの、又は、プリント基板の手前側を上下方向から挟み込み、基板運搬箱からプリント基板を引っ張り出すように作動するアーム部を備えたもの、あるいは、取出方向と反対側の基板運搬箱の側面に設けられたスリットから入り込んで基板運搬箱からプリント基板を押し出すように作動するアーム部を備えたものが採用されている。Conventional component transfer devices include a transporting box moving means for moving a board transporting box for storing printed circuit boards in a plurality of stages in the horizontal and vertical directions, a board taking out means for taking out printed boards one by one from the board transporting box, and the like. Set the board transport box at a predetermined position, raise and lower stepwise to position the printed board at a predetermined take-out position, take out the printed board one by one by the board take-out means, and supply the downstream supply area (mounting machine) (Patent Document 1).
In this apparatus, as the board take-out means, one provided with an arm portion that operates to hook the protrusion from the lower side of the printed board to the innermost edge part of the printed board and scrape it out of the board carrying box, or A board with an arm that operates to sandwich the front side from the top and bottom and pulls out the printed board from the board transport box, or a board that enters through the slit provided on the side of the board transport box opposite to the take-out direction The thing with the arm part which operate | moves so that a printed circuit board may be pushed out from a conveyance box is employ | adopted.

しかしながら、この装置における基板取出手段として、プリント基板の最奥縁部に突起を引っ掛けてかき出すように作動するアーム部を適用する場合、アーム部を取出方向における基板（基板運搬箱）の長さ寸法よりも長く設定する必要があり、装置の大型化を招き、又、アーム部を往復動させる駆動機構の他にアーム部（突起）を昇降させる駆動機構が必要であり、装置の複雑化、大型化を招く。
また、基板取出手段として、プリント基板を押し出すように作動するアーム部を適用する場合、アーム部を押出方向における基板（基板運搬箱）の長さ寸法よりも長く設定する必要があり、装置の大型化を招く。
さらに、基板取出手段として、プリント基板の手前側を上下方向から挟み込んで引っ張り出すように作動するアーム部を適用する場合、このアーム部がプリント基板を挟み込む作動を行うための構造及び駆動機構等が不明であり、具体的に実施できる程の内容が開示されていない。
特開平９−３３１１９１号公報 However, when applying an arm portion that operates so as to hook out a protrusion on the innermost edge portion of the printed circuit board as a substrate take-out means in this apparatus, the length dimension of the substrate (substrate carrying box) in the take-out direction of the arm portion It is necessary to set longer than the above, resulting in an increase in the size of the device, and in addition to a drive mechanism for reciprocating the arm portion, a drive mechanism for raising and lowering the arm portion (protrusion) is required. Invite
In addition, when applying an arm part that operates to push out a printed circuit board as a board take-out means, it is necessary to set the arm part to be longer than the length dimension of the board (board transport box) in the extrusion direction. Invite
Furthermore, when applying an arm portion that operates so as to sandwich and pull the front side of the printed circuit board from the vertical direction as the substrate take-out means, a structure and a driving mechanism for performing an operation for this arm portion to sandwich the printed circuit board It is unknown, and details that can be specifically implemented are not disclosed.
JP 9-331191 A

本発明は、上記従来技術の事情に鑑みてなされたものであり、その目的とするところは、構造の簡素化、小型化、低コスト化等を図りつつ、ラック等に収納された基板等の部品を取り出して所定の供給エリアに円滑に移送することができ、稼動効率及び生産性を向上させることができる部品移送装置を提供することにある。
The present invention has been made in view of the circumstances of the above prior art, and its object is to simplify the structure, reduce the size, reduce the cost, etc. Remove the device can be smoothly transferred to the predetermined supply area is to provide a component transfer equipment that can improve the operation efficiency and productivity.

上記目的を達成する本発明の部品移送装置は、部品を所定高さの搬送面に位置決めして保持する保持機構と、保持機構に保持された部品を水平方向に引き出す引出ユニットとを備え、上記引出ユニットは、部品を上下方向から離脱可能に把持し得る把持部材と、把持部材に対してカム作用を及ぼすことにより所定のタイミングで部品の把持動作及び部品の解除動作を行わせるカム部材と、カム部材及び把持部材を駆動する駆動機構を含み、上記把持部材は、部品の上面に対して離脱可能に当接し得る上側当接部を有する上側アーム部材と、部品の下面に対して離脱可能に当接し得る下側当接部を有する下側アーム部材を含み、上記カム部材は、部品の引出方向に往復動自在にガイドされる被ガイド部と、上側アーム部材に上下動のカム作用を及ぼす上側カム部と、下側アーム部材に上下動のカム作用を及ぼす下側カム部を含み、上記駆動機構は、被ガイド部を引出方向の所定範囲に亘ってガイドする水平ガイド部，上側アーム部材及び下側アーム部材を上下方向の所定範囲に亘ってガイドする垂直ガイド部を有し，引出方向に往復動する可動ホルダと、可動ホルダが部品に近接する引出方向の一方側の所定位置に達したときに把持動作のためのカム作用を行わせるべくカム部材の移動のみを規制する第１ストッパと、可動ホルダが引出方向の他方側の所定位置に達したときに解除動作のためのカム作用を行わせるべくカム部材の移動のみを規制する第２ストッパを含む。
この構成によれば、保持機構（例えば、部品を直接載置する載置台あるいは昇降テーブル等）により部品が所定高さの搬送面に位置決め保持されると、引出ユニットにおいて、駆動機構の駆動により、カム部材がカム作用を及ぼして、所定のタイミングで把持部材が部品を上下から把持（挟持）して所定位置まで引き出した後に部品を解除する。
このように、引出ユニットが、カム部材のカム作用により、所定のタイミングで把持部材に部品の把持動作及び解除動作を行わせるものであるため、複数のアクチュエータ等を用いる場合に比べて、構造の簡素化を達成しつつ、所望のタイミングで確実に部品を把持して引き出し、所定の供給エリアに円滑に移送することができ、稼動効率及び生産性を向上させることができる。
ここで、把持部材が上側アーム部材及び下側アーム部材を含み、カム部材が被ガイド部，上側カム部，及び下側カム部を含み、駆動機構が、水平ガイド部及び垂直ガイド部を有する可動ホルダ，第１ストッパ，及び第２ストッパを含むため、可動ホルダは、カム部材（の被ガイド部）を水平ガイド部で引出方向の所定範囲で往復動自在に支持すると共に上側カム部のカム作用を受ける上側アーム部材及び下側カム部のカム作用を受ける下側アーム部材を垂直ガイド部で上下方向に相対的に移動するように支持し、可動ホルダが引き出される部品に近接する引出方向の一方側の所定位置に達してカム部材（の一側部）が第１ストッパに当接して停止すると、可動ホルダのみがさらに移動して、カム部材のカム作用により上側アーム部材（上側当接部）及び下側アーム部材（下側当接部）が部品を上下方向から把持し、一方、可動ホルダが逆向きに移動して引出方向の他方側の所定位置に達してカム部材（の他側部）が第２ストッパに当接して停止すると、可動ホルダのみがさらに移動して、カム部材のカム作用により上側アーム部材（上側当接部）及び下側アーム部材（下側当接部）が部品を解除する。
このように、把持部材を上下二つのアーム部材により形成し、可動ホルダに対するカム部材の相対的な移動によりカム作用を発生させるため、駆動機構の構造を簡素化しつつ、把持動作→引出動作→解除動作を所定のタイミングで高精度に、かつ円滑に行わせることができる。 The component transfer device of the present invention that achieves the above object includes a holding mechanism that positions and holds the component on a conveying surface having a predetermined height, and a drawer unit that pulls out the component held by the holding mechanism in the horizontal direction, The drawer unit includes a gripping member capable of gripping the component so as to be detachable from the vertical direction, a cam member performing a gripping operation of the component and a releasing operation of the component at a predetermined timing by exerting a cam action on the gripping member, It is seen including a driving mechanism for driving the cam member and the gripping member, the gripping member, an upper arm member having an upper contact portion which can detachably contact with the upper surface of the component, detachable from the lower surface of the component A lower arm member having a lower abutting portion capable of abutting on the cam member. An upper cam portion that lowers and a lower cam portion that exerts a cam action for vertical movement on the lower arm member, and the drive mechanism includes a horizontal guide portion that guides the guided portion over a predetermined range in the pull-out direction, A movable holder having a vertical guide portion for guiding the arm member and the lower arm member over a predetermined range in the vertical direction, reciprocating in the pull-out direction, and a predetermined position on one side in the pull-out direction where the movable holder is close to the component A first stopper that restricts only the movement of the cam member to perform a cam action for a gripping operation when the position reaches the position, and a release operation when the movable holder reaches a predetermined position on the other side in the pull-out direction. A second stopper that restricts only the movement of the cam member to perform the cam action is included .
According to this configuration, when the component is positioned and held on the conveying surface of a predetermined height by the holding mechanism (for example, a mounting table or a lifting table or the like on which the component is directly placed), in the drawer unit, by driving the drive mechanism, The cam member exerts a cam action, and the gripping member grips (holds) the component from above and below at a predetermined timing and pulls it out to a predetermined position, and then releases the component.
As described above, the drawer unit causes the gripping member to perform the gripping operation and the release operation of the component at a predetermined timing by the cam action of the cam member. While achieving simplification, it is possible to securely grasp and pull out components at a desired timing and smoothly transfer them to a predetermined supply area, thereby improving operational efficiency and productivity.
Here, the gripping member includes an upper arm member and a lower arm member, the cam member includes a guided portion, an upper cam portion, and a lower cam portion, and the drive mechanism has a horizontal guide portion and a vertical guide portion. Since the holder, the first stopper, and the second stopper are included, the movable holder supports the cam member (guided portion thereof) so that the horizontal guide portion can reciprocate within a predetermined range in the pull-out direction and the cam action of the upper cam portion. The upper arm member that receives the cam and the lower arm member that receives the cam action of the lower cam portion are supported by the vertical guide portion so as to move relative to each other in the vertical direction, and one of the pulling directions close to the component from which the movable holder is pulled out When the cam member (one side) comes into contact with the first stopper and stops, the movable holder alone moves further, and the cam action of the cam member causes the upper arm member (upper Part) and the lower arm member (lower contact part) grip the component from above and below, while the movable holder moves in the opposite direction and reaches the predetermined position on the other side in the pull-out direction, When the side portion abuts against the second stopper and stops, only the movable holder moves further, and the cam action of the cam member causes the upper arm member (upper abutment portion) and the lower arm member (lower abutment portion). Will release the part.
In this way, the gripping member is formed by two upper and lower arm members, and the cam action is generated by the relative movement of the cam member with respect to the movable holder, so that the structure of the drive mechanism is simplified and gripping operation → drawing operation → release The operation can be performed accurately and smoothly at a predetermined timing.

上記構成をなす装置において、カム部材は、把持部材に対してカム作用を及ぼす領域として、把持部材を所定高さよりも下方の位置に待避させると共にその先端同士を近接させる待避領域、把持部材を所定高さの位置に上昇させると共にその先端同士を離隔させる離隔領域、及び把持部材の先端同士を近接させると共に部品を挟み込んで把持する把持領域を有する、構成を採用することができる。
この構成によれば、カム部材の待避領域、離隔領域、及び把持領域のカム作用により、把持部材が部品を引き出した後、この把持部材が搬送面から待避させられるため、部品の移送をより円滑に行うことができると共に、把持動作→引出動作→解除動作→待避動作を最適なタイミングで確実に行わせることができる。 In the apparatus having the above-described configuration, the cam member is a region that exerts a cam action on the gripping member, and retracts the gripping member at a position lower than a predetermined height and closes the tips of the cam member and the gripping member. It is possible to adopt a configuration having a separation region that raises the height and separates the tips thereof, and a gripping region that grips the components while holding the tips of the gripping members close to each other .
According to this configuration, since the gripping member is retracted from the conveyance surface after the gripping member is pulled out by the cam action of the evacuation area, the separation area, and the gripping area of the cam member, the parts can be transferred more smoothly. In addition, the gripping operation → the pulling-out operation → the releasing operation → the retracting operation can be surely performed at an optimal timing.

上記構成をなす装置において、把持部材は、駆動機構により部品に近接する引出方向の一方側に移動させられるとき、カム部材における待避領域から離隔領域を経て把持領域に案内されて、所定高さの位置に上昇すると共に部品を挟みこんで把持し、駆動機構により部品を把持した状態で引出方向の他方側に移動させられるとき、カム部材における把持領域から離隔領域を経て待避領域に案内されて、把持した部品を解除すると共に所定高さよりも下方の位置に待避する、構成を採用することができる。
この構成によれば、把持部材が駆動機構により引出方向の一方側及び他方側に移動させられるだけで、把持動作→引出動作→解除動作→待避動作を最適なタイミングで確実に行わせることができる。 In the apparatus having the above-described configuration, when the gripping member is moved to one side in the pulling direction close to the component by the drive mechanism , the gripping member is guided from the retracting region of the cam member to the gripping region through the separation region, and has a predetermined height. When it is moved to the other position in the pull-out direction in a state where the component is sandwiched and gripped by the drive mechanism and gripped by the drive mechanism, it is guided from the gripping region in the cam member to the retracting region through the separation region, A configuration in which the gripped component is released and retracted to a position below a predetermined height can be employed.
According to this configuration, only by moving the gripping member to one side and the other side in the pulling direction by the drive mechanism, it is possible to reliably perform the gripping operation → the pulling operation → the releasing operation → the retracting operation at an optimal timing. .

上記構成をなす装置において、上側カム部及び下側カム部は、カム部材の上端縁及び下端縁に形成され、上側アーム部材は、垂直ガイド部にガイドされると共に上側カム部に係合する上側フォロワ部を有し、下側アーム部材は、垂直ガイド部にガイドされると共に下側カム部に係合する下側フォロワ部を有し、上側フォロワ部及び下側フォロワ部には、お互いを引き寄せる引張りバネが掛止されている、構成を採用することができる。
この構成によれば、カム部材が上端縁及び下端縁にカム部をもつ端面カムであり、上側フォロワ部及び下側フォロワ部がそれぞれ上側カム部及び下側カム部に係合するように引張りバネにより引き寄せられ、上側フォロワ部及び下側フォロワ部が可動ホルダの垂直ガイド部にガイドされる役割を兼ねるため、部品点数の削減、構造の簡素化等を達成しつつ、円滑で確実なカム作用を得ることができる。In the apparatus configured as described above, the upper cam portion and the lower cam portion are formed at the upper edge and the lower edge of the cam member, and the upper arm member is guided by the vertical guide portion and engages with the upper cam portion. The lower arm member has a lower follower portion that is guided by the vertical guide portion and engages with the lower cam portion, and draws the upper follower portion and the lower follower portion toward each other. A configuration in which a tension spring is hooked can be employed.
According to this configuration, the cam member is an end face cam having a cam portion at the upper end edge and the lower end edge, and the tension spring is configured so that the upper follower portion and the lower follower portion engage with the upper cam portion and the lower cam portion, respectively. Since the upper and lower follower parts are also guided by the vertical guide part of the movable holder, a smooth and reliable cam action can be achieved while reducing the number of parts and simplifying the structure. Obtainable.

上記構成をなす装置において、引出ユニットにより引き出された部品を担持して搬送する搬送ユニットを含む、構成を採用することができる。
この構成によれば、搬送ユニットにより、引き出された部品を最適なタイミングで下流側の供給エリアに移送することができる。In the apparatus having the above-described configuration, it is possible to adopt a configuration including a transport unit that carries and transports the components pulled out by the pull-out unit.
According to this configuration, the drawn-out component can be transferred to the downstream supply area at an optimal timing by the transport unit.

上記構成をなす装置において、保持機構は、部品を上下方向に複数段に亘って収納するラックと、ラックを昇降させて位置決めする昇降ユニットを含み、さらに、昇降ユニットにより搬送面に位置決めされた部品を、把持部材側に向けて所定量だけ押し出す押出ユニットを含む、構成を採用することができる。
この構成によれば、昇降ユニットによりラック内の部品が所定高さの搬送面に位置決めされると、引出ユニットにおいて、駆動機構の駆動により、カム部材がカム作用を及ぼして、所定のタイミングで把持部材が部品を上下から把持（挟持）して所定位置まで引き出した後に部品を解除する。このように、保持機構として、部品を複数段に亘って収容するラックを昇降させて位置決めする昇降ユニットを採用することで、部品の連続的な引出し、移送が可能になる。また、ラック内において部品が狭い間隔で複数段に配列されている場合、押出ユニットにより予め部品を所定量だけ押し出すことで、引出ユニットは押し出された部品の先端領域を確実に把持することができる。また、押出ユニットは部品を所定量だけ押し出すため、従来のような長いストロークが不要であり、構造の簡素化、装置の小型化を達成することができる。 In the apparatus having the above-described configuration, the holding mechanism includes a rack that accommodates parts in a plurality of stages in the vertical direction, a lifting unit that moves the rack up and down, and is positioned on the transport surface by the lifting unit. It is possible to adopt a configuration including an extruding unit that pushes a predetermined amount toward the gripping member side.
According to this configuration, when the components in the rack are positioned on the transport surface having a predetermined height by the lifting unit, the cam member exerts a cam action by the drive mechanism in the drawer unit and is gripped at a predetermined timing. After the member grips (holds) the component from above and below and pulls it out to a predetermined position, the component is released. As described above, by adopting an elevating unit that raises and lowers a rack that accommodates parts in a plurality of stages as a holding mechanism, the parts can be continuously pulled out and transferred. Further, when the parts are arranged in a plurality of stages at narrow intervals in the rack , the drawer unit can reliably hold the tip region of the extruded part by extruding the part by a predetermined amount in advance by the extrusion unit. . Further, since the extrusion unit pushes out a predetermined amount of parts, a long stroke as in the conventional case is unnecessary, and the structure can be simplified and the apparatus can be downsized.

上記構成をなす部品移送装置によれば、構造の簡素化、小型化、低コスト化等を達成しつつ、ラック等に収納された基板等の部品を取り出して所定の供給エリアに円滑に移送することができ、稼動効率及び生産性を向上させることができる。 According to the component transfer equipment having the above-described configuration, simplification of the structure, size reduction, while achieving cost reduction, etc., it is taken out components such as a substrate accommodated in the rack or the like smoothly in a predetermined supply area transfer It is possible to improve operation efficiency and productivity.

本発明に係る部品移送装置の一実施形態を示す正面図である。It is a front view which shows one Embodiment of the components transfer apparatus which concerns on this invention. 図１に示す部品移送装置を示す平面図である。It is a top view which shows the components transfer apparatus shown in FIG. 図１に示す部品移送装置に含まれる引出ユニットを示す平面図である。It is a top view which shows the drawer unit contained in the components transfer apparatus shown in FIG. 図１に示す部品移送装置に含まれる引出ユニットを示す正面図である。It is a front view which shows the drawer | drawing-out unit contained in the components transfer apparatus shown in FIG. 図１に示す部品移送装置の一部をなすカム部材、把持部材（上側アーム部材、下側アーム部材）、可動ホルダを示す正面図である。FIG. 2 is a front view showing a cam member, a gripping member (upper arm member, lower arm member), and a movable holder that form a part of the component transfer device shown in FIG. 1. 図１に示す部品移送装置の一部をなすカム部材、把持部材（上側アーム部材、下側アーム部材）、可動ホルダを示す平面図である。FIG. 2 is a plan view showing a cam member, a gripping member (upper arm member, lower arm member), and a movable holder that form a part of the component transfer device shown in FIG. 1. 図１に示す部品移送装置の一部をなすカム部材、把持部材（上側アーム部材、下側アーム部材）、可動ホルダを示す左側面図である。FIG. 2 is a left side view illustrating a cam member, a gripping member (an upper arm member, a lower arm member), and a movable holder that form a part of the component transfer device illustrated in FIG. 1. 図１に示す部品移送装置の一部をなす可動ホルダを示す正面である。It is a front which shows the movable holder which makes a part of component transfer apparatus shown in FIG. 図１に示す部品移送装置の一部をなす上側アーム部材を示す正面図である。It is a front view which shows the upper arm member which makes a part of component transfer apparatus shown in FIG. 図１に示す部品移送装置の一部をなす下側アーム部材を示す正面図である。It is a front view which shows the lower arm member which makes a part of component transfer apparatus shown in FIG. 図１に示す部品移送装置の一部をなすカム部材を示す正面図である。It is a front view which shows the cam member which makes a part of component transfer apparatus shown in FIG. 図１に示す部品移送装置の一部をなすカム部材、把持部材（上側アーム部材、下側アーム部材）の動作を示す動作図である。It is an operation | movement figure which shows operation | movement of the cam member and the holding member (upper arm member, lower arm member) which make a part of component transfer apparatus shown in FIG. 本発明に係る部品移送装置において、部品が所定高さの搬送面に位置決めされる動作を示す動作図である。FIG. 5 is an operation diagram showing an operation of positioning a component on a conveying surface having a predetermined height in the component transfer apparatus according to the present invention. 本発明に係る部品移送装置において、押出ユニット及び引出ユニットの動作を示す動作図である。In the component transfer apparatus which concerns on this invention, it is an operation | movement figure which shows operation | movement of an extrusion unit and a drawing | extracting unit. 本発明に係る部品移送装置において、引出ユニットが部品を把持する動作を示す動作図である。FIG. 5 is an operation diagram illustrating an operation of the drawer unit gripping a component in the component transfer apparatus according to the present invention. 本発明に係る部品移送装置において、引出ユニットが部品を所定位置まで引き出した後に部品を解除する動作を示す動作図である。FIG. 5 is an operation diagram showing an operation of releasing a part after the drawer unit has pulled the part to a predetermined position in the part transfer device according to the present invention. 本発明に係る部品移送装置において、引出ユニットが部品を解除した後に、搬送面から下方に待避する動作を示す動作図である。FIG. 6 is an operation diagram showing an operation of retracting downward from the conveying surface after the drawer unit releases the component in the component transfer apparatus according to the present invention. 本発明に係る部品移送装置において、搬送ユニットが部品を下流側に向けて搬送する動作及び次の部品が搬送面に位置決めされる動作を示す動作図である。In the component transfer apparatus according to the present invention, an operation diagram illustrating an operation in which a conveyance unit conveys a component toward a downstream side and an operation in which a next component is positioned on a conveyance surface.

符号の説明Explanation of symbols

Ａ１ 供給エリア
Ｒ ラック
Ｗ 部品
Ｙ 引出方向
Ｚ 上下方向
Ｓ 所定高さの搬送面
１０ ベース
２０ 昇降ユニット（保持機構）
２１ 支柱
２２ 昇降テーブル
２２ａ ボールナット
２３ ボールネジ
２４ モータ
３０ テーブルユニット
３１ ガイドレール
３２ 可動テーブル
３２ａ ボールナット
３３ ボールネジ
３４ モータ
４０ 引出ユニット
４１ 可動ホルダ（駆動機構）
４１´ 二つの直立壁
４１´´ 基部
４１ 可動ホルダ
４１ａ ガイドピン（水平ガイド部）
４１ｂ 縦長孔（垂直ガイド部）
４２ カム部材
４２ａ 横長孔（被ガイド部）
４２ｂ 上側カム部
４２ｃ 下側カム部
４２ｄ 一側部
４２ｅ 他側部
４３ 上側アーム部材（把持部材）
４３ａ 上側当接部
４３ｂ 上側フォロワピン（上側フォロワ部）
４３ｃ 縦長孔
４４ 下側アーム部材（把持部材）
４４ａ 下側当接部
４４ｂ 下側フォロワピン（下側フォロワ部）
４４ｃ 縦長孔
４５ ホルダ駆動機構
４５ａ ガイドレール
４５ｂ 無端ベルト
４５ｃ 駆動プーリ
４５ｄ 従動プーリ
４５ｅ モータ
４６ 第１ストッパ（駆動機構）
４７ 第２ストッパ（駆動機構）
４８ 引張りバネ
５０ 搬送ユニット
５１ 搬送ベルト
５２ 従動プーリ
５３ 駆動プーリ
５４ モータ
６０ 押出ユニット
６１ 押出ロッド
６２ クランク部材
６３ モータA1 Supply area R Rack W Component Y Pull-out direction Z Vertical direction S Conveying surface 10 with predetermined height Base 20 Lifting unit (holding mechanism)
21 Support 22 Lifting table 22a Ball nut 23 Ball screw 24 Motor 30 Table unit 31 Guide rail 32 Movable table 32a Ball nut 33 Ball screw 34 Motor 40 Drawer unit 41 Movable holder (drive mechanism)
41 'Two upright walls 41 "Base 41 Movable holder 41a Guide pin (horizontal guide part)
41b Long hole (vertical guide)
42 Cam member 42a Horizontally long hole (guided portion)
42b Upper cam portion 42c Lower cam portion 42d One side portion 42e Other side portion 43 Upper arm member (gripping member)
43a Upper contact part 43b Upper follower pin (upper follower part)
43c Vertically long hole 44 Lower arm member (gripping member)
44a Lower contact portion 44b Lower follower pin (lower follower portion)
44c Vertically long hole 45 Holder drive mechanism 45a Guide rail 45b Endless belt 45c Drive pulley 45d Driven pulley 45e Motor 46 First stopper (drive mechanism)
47 Second stopper (drive mechanism)
48 tension spring 50 transport unit 51 transport belt 52 driven pulley 53 drive pulley 54 motor 60 push-out unit 61 push-out rod 62 crank member 63 motor

以下、本発明の最良の実施形態について添付図面を参照しつつ説明する。
この部品移送装置は、図１ないし図３に示すように、ベース１０、ベース１０上の左側に設けられて部品Ｗを収納したラックＲを昇降させる保持機構としての昇降ユニット２０、ベース１０の右側に設けられたテーブルユニット３０、テーブルユニット３０上に設けられた引出ユニット４０及び搬送ユニット５０、昇降ユニット２０の左側に隣接して設けられた押出ユニット６０等を備えている。
また、図１及び図２に示すように、この部品移送装置に対して、Ｙ方向の隣接する位置においてラックＲから引き出した部品Ｗを供給する供給エリアＡ１が配置されている。DESCRIPTION OF EXEMPLARY EMBODIMENTS Hereinafter, preferred embodiments of the invention will be described with reference to the accompanying drawings.
As shown in FIGS. 1 to 3, the component transfer device includes a base 10, a lifting unit 20 as a holding mechanism that is provided on the left side of the base 10 and lifts a rack R that stores components W, and a right side of the base 10. The table unit 30 provided on the table unit 30, the drawer unit 40 and the transport unit 50 provided on the table unit 30, the extrusion unit 60 provided adjacent to the left side of the lifting unit 20, and the like.
As shown in FIGS. 1 and 2, a supply area A <b> 1 for supplying the component W pulled out from the rack R is disposed at an adjacent position in the Y direction with respect to the component transfer device.

ラックＲは、図１及び図２に示すように、外輪郭が略直方体をなし、略矩形の板状をなす基板状の部品Ｗを上下方向Ｚに配列して収納し得るように、上側フレームＲ１、下側フレームＲ２、上側フレームＲ１と下側フレームＲ２を連結する四隅及び中央２箇所の縦フレームＲ３、縦フレームＲ３に複数段に亘って設けられて部品Ｗを載置し得る載置フレームＲ４等を備えている。   As shown in FIGS. 1 and 2, the rack R has a substantially rectangular parallelepiped outer contour, and an upper frame so that board-like components W having a substantially rectangular plate shape can be arranged and stored in the vertical direction Z. R1, lower frame R2, four corners connecting upper frame R1 and lower frame R2, and two vertical frames R3 at the center, a mounting frame that is provided in multiple stages on vertical frame R3 and on which component W can be mounted R4 etc. are provided.

昇降ユニット２０は、図１及び図２に示すように、ベース１０上に垂直に設けられた支柱２１、支持壁２１のガイドレール２１ａに対して上下方向Ｚに昇降自在に支持された昇降テーブル２２、昇降テーブル２２のボールナット２２ａに螺合すると共に上下方向Ｚに伸長するボールネジ２３、ボールネジ２３を回転駆動するモータ２４等を備えている。
そして、昇降ユニット２０は、昇降テーブル２２にラックＲを保持した状態で、モータ２４が回転すると、ボールネジ２３が回転し、ボールナット２２ａと一緒に昇降テーブル２２がステップ的に昇降して、引き出される部品Ｗを一つずつ所定高さの搬送面Ｓに位置決めするようになっている。As shown in FIGS. 1 and 2, the elevating unit 20 includes a support column 21 provided vertically on the base 10 and an elevating table 22 supported so as to be movable up and down in the vertical direction Z with respect to the guide rail 21 a of the support wall 21. A ball screw 23 that is screwed into the ball nut 22a of the lifting table 22 and extends in the vertical direction Z, a motor 24 that rotationally drives the ball screw 23, and the like are provided.
When the motor 24 rotates while the rack R is held on the lifting table 22, the lifting unit 20 rotates the ball screw 23, and the lifting table 22 is lifted and lowered stepwise together with the ball nut 22a. The parts W are positioned one by one on the conveying surface S having a predetermined height.

テーブルユニット３０は、図１ないし図３Ｂに示すように、ベース１０上に固定されてＸ方向に伸長するガイドレール３１、ガイドレール３１にガイドされてＸ方向に移動する可動テーブル３２、可動テーブル３２のボールナット３２ａに螺合すると共にＸ方向に伸長するボールネジ３３、ボールネジ３３を回転駆動するモータ３４等を備えている。
可動テーブル３２上には、図１ないし図３Ｂに示すように、引出ユニット４０及び搬送ユニット５０が設けられている。
そして、可動テーブル３２は、モータ３４が回転すると、ボールネジ３３及びボールナット３２ａを介して、Ｘ方向に移動して、所定位置に位置決めされるようになっている。As shown in FIGS. 1 to 3B, the table unit 30 is fixed on the base 10 and extends in the X direction, a movable table 32 that is guided by the guide rail 31 and moves in the X direction, and a movable table 32. And a ball screw 33 that extends in the X direction and a motor 34 that rotationally drives the ball screw 33 are provided.
On the movable table 32, as shown in FIGS. 1 to 3B, a drawer unit 40 and a transport unit 50 are provided.
When the motor 34 rotates, the movable table 32 moves in the X direction via the ball screw 33 and the ball nut 32a and is positioned at a predetermined position.

引出ユニット４０は、図３Ａないし図９に示すように、可動ホルダ４１、カム部材４２、把持部材としての上側アーム部材４３及び下側アーム部材４４、可動ホルダ４１を駆動するホルダ駆動機構４５、カム部材４２の一側部が当接し得る第１ストッパ４６、カム部材４２の他側部が当接し得る第２ストッパ４７等を備えている。
ここでは、可動ホルダ４１、第１ストッパ４６、第２ストッパ４７等により、カム部材４２及び把持部材（上側アーム部材４３及び下側アーム部材４４）を駆動する駆動機構が構成されている。As shown in FIGS. 3A to 9, the drawer unit 40 includes a movable holder 41, a cam member 42, an upper arm member 43 and a lower arm member 44 as gripping members, a holder driving mechanism 45 for driving the movable holder 41, and a cam. A first stopper 46 on which one side of the member 42 can abut, a second stopper 47 on which the other side of the cam member 42 can abut, and the like are provided.
Here, a drive mechanism that drives the cam member 42 and the gripping members (the upper arm member 43 and the lower arm member 44) is configured by the movable holder 41, the first stopper 46, the second stopper 47, and the like.

可動ホルダ４１は、図４ないし図７に示すように、Ｘ方向に所定間隔をおいて直立する二つ直立壁４１´及びホルダ駆動機構４５に連結される基部４１´´を画定するように形成され、それぞれの直立壁４１´は一体的に連結されると共にそれぞれ、カム部材４２を部品Ｗの引出方向（Ｙ方向）に往復動自在にガイドする水平ガイド部としての２つのガイドピン４１ａ、上側アーム部材４３及び下側アーム部材４４を上下方向Ｚに往復動自在にガイドする垂直ガイド部としての縦長孔４１ｂ等を備えるように形成されている。   As shown in FIGS. 4 to 7, the movable holder 41 is formed so as to define two upright walls 41 ′ standing upright at a predetermined interval in the X direction and a base 41 ″ connected to the holder driving mechanism 45. Each of the upright walls 41 ′ is integrally connected and has two guide pins 41 a as a horizontal guide portion for reciprocally guiding the cam member 42 in the drawing direction (Y direction) of the component W, and the upper side The arm member 43 and the lower arm member 44 are formed to have a vertically long hole 41b as a vertical guide portion that guides the arm member 43 and the lower arm member 44 so as to reciprocate in the vertical direction Z.

カム部材４２は、図４ないし図６、図９に示すように、Ｘ方向に所定間隔をおいて二つ配置されると共に一体的に連結されており、それぞれ、部品Ｗの引出方向（Ｙ方向）に伸長してガイドピン４１ａが挿入される被ガイド部としての横長孔４２ａ、上端縁に形成された上側カム部４２ｂ、下端縁に形成された下側カム部４２ｃ、第１ストッパ４６に当接し得る一側部４２ｄ、第２ストッパ４７に当接し得る他側部４２ｅ等を備えるように形成されている。   As shown in FIGS. 4 to 6 and 9, two cam members 42 are arranged at a predetermined interval in the X direction and are integrally connected to each other. ) And a guide hole 41a into which a guide pin 41a is inserted, a horizontally elongated hole 42a, an upper cam portion 42b formed at the upper edge, a lower cam portion 42c formed at the lower edge, and the first stopper 46. One side portion 42d that can come into contact, the other side portion 42e that can come into contact with the second stopper 47, and the like are formed.

上側アーム部材４３は、図４ないし図６、図８Ａに示すように、部品Ｗの上面に対して離脱可能に当接し得る上側当接部４３ａ、上側カム部４２ｂに係合する上側フォロワ部としての上側フォロワピン４３ｂ、後述する下側アーム部材４４の下側フォロワピン４４ｂが挿入される縦長孔４３ｃ等を備えるように形成されている。
下側アーム部材４４は、図４ないし図６、図８Ｂに示すように、部品Ｗの下面に対して離脱可能に当接し得る下側当接部４４ａ、下側カム部４２ｃに係合する下側フォロワ部としての下側フォロワピン４４ｂ、上側アーム部材４３の上側フォロワピン４３ｂが挿入される縦長孔４４ｃ等を備えるように形成されている。
そして、上側フォロワピン４３ｂは、図４に示すように、可動フレーム４１の縦長孔４１ｂ及び下側アーム部材４４の縦長孔４４ｃに挿入されて、可動ホルダ４１に対して上下方向Ｚに往復動自在にガイドされるようになっている。また、下側フォロワピン４４ｂは、図４に示すように、可動フレーム４１の縦長孔４１ｂ及び上側アーム部材４３の縦長孔４３ｃに挿入されて、可動ホルダ４１に対して上下方向Ｚに往復動自在にガイドされるようになっている。
さらに、上側フォロワピン４３ｂ及び下側フォロワピン４４ｂには、お互いを引き寄せるように引張りバネ４８が掛止されている。これにより、上側フォロワピン４３ｂは上側カム部４２ｂに係合した状態が維持されて上下動のカム作用を受け、又、下側フォロワピン４４ｂは下側カム部４２ｃに係合した状態が維持されて上下動のカム作用を受けるようになっている。As shown in FIGS. 4 to 6 and 8A, the upper arm member 43 serves as an upper contact portion 43a that can removably contact the upper surface of the component W and an upper follower portion that engages with the upper cam portion 42b. The upper follower pin 43b of the lower arm member 44 and the lower follower pin 44b of the lower arm member 44 to be described later are formed to have a vertically long hole 43c and the like.
As shown in FIGS. 4 to 6 and 8B, the lower arm member 44 is engaged with a lower contact portion 44a and a lower cam portion 42c that can removably contact the lower surface of the component W. A lower follower pin 44b as a side follower portion, a vertically elongated hole 44c into which the upper follower pin 43b of the upper arm member 43 is inserted, and the like are formed.
As shown in FIG. 4, the upper follower pin 43 b is inserted into the vertically long hole 41 b of the movable frame 41 and the vertically long hole 44 c of the lower arm member 44 so as to reciprocate in the vertical direction Z with respect to the movable holder 41. Guided. Further, as shown in FIG. 4, the lower follower pin 44 b is inserted into the vertically long hole 41 b of the movable frame 41 and the vertically long hole 43 c of the upper arm member 43, and can reciprocate in the vertical direction Z with respect to the movable holder 41. Guided.
Furthermore, a tension spring 48 is hooked on the upper follower pin 43b and the lower follower pin 44b so as to draw each other. As a result, the upper follower pin 43b is maintained in the engaged state with the upper cam portion 42b and is subjected to a vertical cam action, and the lower follower pin 44b is maintained in the engaged state with the lower cam portion 42c and is It is designed to receive dynamic cam action.

すなわち、上記可動ホルダ４１、カム部材４２、上側アーム部材４３及び下側アーム部材４４の関係において、上側カム部４２ｂ及び下側カム部４２ｃは、上側アーム部材４３及び下側アーム部材４４を相対的に上下動させるようにカム作用を及ぼす。
図９及び図１０に示すように、上側フォロワピン４３ｂ及び下側フォロワピン４４ｂがＡ点からＤ点に向けて移動するとき（すなわち、カム部材４２の他側部４２ｅが第２ストッパ４７に当接した状態で可動ホルダ４１が右向きに移動するとき）、把持動作（図１０のＳ１）及び引出動作→解除動作（図１０のＳ２）→待避動作（図１０のＳ３）が連続して行われる。
すなわち、上側フォロワピン４３ｂ及び下側フォロワピン４４ｂが、Ａ点に位置するとき図１０のＳ１に示すように上側当接部４３ａ及び下側当接部４４ａがお互いに近づいて部品Ｗを上下方向Ｚから把持し、Ｂ点に位置するとき又はＢ点を通過するとき図１０のＳ２に示すように上側当接部４３ａ及び下側当接部４４ａがお互いに離隔して部品Ｗの把持を解除する動作が完了し、Ｃ点に位置するとき又はＣ点を通過するとき上側当接部４３ａ及び下側当接部４４ａが部品Ｗから引出方向Ｙの前方に外れ、Ｄ点に位置するとき図１０のＳ３に示すように上側アーム部材４３及び下側アーム部材４４が搬送面Ｓから下方へ待避する動作が完了する。
一方、上側フォロワピン４３ｂ及び下側フォロワピン４４ｂが、Ｄ点からＡ点に向けて移動するとき（すなわち、カム部材４２の一側部４２ｄが第１ストッパ４６に当接した状態で可動ホルダ４１が左向きに移動するとき）、待避位置に待機した状態から、搬送面Ｓの高さまで上昇し、部品Ｗの先端領域を受け入れ、上下方向Ｚから部品Ｗを把持する動作が完了する。That is, in the relationship between the movable holder 41, the cam member 42, the upper arm member 43, and the lower arm member 44, the upper cam portion 42b and the lower cam portion 42c relatively move the upper arm member 43 and the lower arm member 44 relative to each other. The cam action is exerted so as to move up and down.
9 and 10, when the upper follower pin 43b and the lower follower pin 44b move from point A toward point D (that is, the other side portion 42e of the cam member 42 contacts the second stopper 47). When the movable holder 41 moves to the right in the state), the gripping operation (S1 in FIG. 10) and the drawing operation → the releasing operation (S2 in FIG. 10) → the retracting operation (S3 in FIG. 10) are continuously performed.
That is, when the upper follower pin 43b and the lower follower pin 44b are positioned at point A, the upper contact portion 43a and the lower contact portion 44a approach each other as shown in S1 of FIG. When the gripper is positioned at the point B or passes the point B, as shown in S2 of FIG. 10, the upper abutment portion 43a and the lower abutment portion 44a are separated from each other to release the grip of the component W 10 is completed when the upper contact part 43a and the lower contact part 44a are disengaged from the component W in the pulling direction Y when positioned at the point C or when passing the point C, and when positioned at the point D. As shown in S3, the operation of the upper arm member 43 and the lower arm member 44 retracting downward from the transport surface S is completed.
On the other hand, when the upper follower pin 43b and the lower follower pin 44b move from point D toward point A (that is, the movable holder 41 faces leftward with the one side portion 42d of the cam member 42 in contact with the first stopper 46). From the state of waiting in the retracted position to the height of the conveying surface S, accepting the tip region of the component W, and the operation of gripping the component W from the vertical direction Z is completed.

ホルダ駆動機構４５は、図３Ａ及び図３Ｂに示すように、可動テーブル３２上において引出方向（Ｙ方向）伸長して形成され可動ホルダ４１を往復動自在にガイドするガイドレール４５ａ、可動ホルダ４１（基部４１´´）に連結された無端ベルト４５ｂ、無端ベルト４５ｂが巻回された駆動プーリ４５ｃ及び従動プーリ４５ｄ、駆動プーリ４５ｃを回転駆動するモータ４５ｅ等を備えている。
そして、モータ４５ｅが一方向に回転すると、カム部材４２及び把持部材（上側アーム部材４３及び下側アーム部材４４）を保持した可動ホルダ４１が、ガイドレール４５ａに沿って（引出方向（Ｙ方向）において）ラックＲに近づく左向きに駆動され、一方、モータ４５ｅが他方向に回転すると、カム部材４２及び把持部材（上側アーム部材４３及び下側アーム部材４４）を保持した可動ホルダ４１が、ガイドレール４５ａに沿って（引出方向（Ｙ方向）において）ラックＲから遠ざかる右向きに駆動されるようになっている。As shown in FIGS. 3A and 3B, the holder driving mechanism 45 is formed by extending in the pull-out direction (Y direction) on the movable table 32 and guides the movable holder 41 in a reciprocating manner. An endless belt 45b connected to the base 41 ″), a driving pulley 45c around which the endless belt 45b is wound, a driven pulley 45d, a motor 45e that rotationally drives the driving pulley 45c, and the like are provided.
When the motor 45e rotates in one direction, the movable holder 41 holding the cam member 42 and the gripping member (the upper arm member 43 and the lower arm member 44) moves along the guide rail 45a (withdrawal direction (Y direction)). And when the motor 45e rotates in the other direction, the movable holder 41 holding the cam member 42 and the gripping members (the upper arm member 43 and the lower arm member 44) is moved to the guide rail. It is driven rightward away from the rack R along the 45a (in the drawing direction (Y direction)).

第１ストッパ４６は、図３Ａ及び図３Ｂに示すように、引出方向（Ｙ方向）において、可動テーブル３２上の左端（ラックＲに近い側）に配置されている。
そして、第１ストッパ４６は、可動ホルダ４１が引出方向（Ｙ方向）の左向きに移動して、ラックＲに近接した所定の近接位置に達したときに、把持動作のためのカム作用を行わせるべく、カム部材４２の一側部４２ｄを当接させてカム部材４２のみの移動を規制するようになっている。As shown in FIGS. 3A and 3B, the first stopper 46 is disposed on the left end (side closer to the rack R) on the movable table 32 in the pull-out direction (Y direction).
Then, the first stopper 46 performs a cam action for a gripping operation when the movable holder 41 moves leftward in the drawing direction (Y direction) and reaches a predetermined proximity position close to the rack R. Accordingly, one side portion 42d of the cam member 42 is brought into contact with the cam member 42 to restrict the movement of the cam member 42 alone.

第２ストッパ４７は、図３Ａ及び図３Ｂに示すように、引出方向（Ｙ方向）において、可動テーブル３２上の右端（ラックＲから離れた側）に配置されている。
そして、第２ストッパ４７は、可動ホルダ４１が引出方向（Ｙ方向）の右向きに移動して、ラックＲから離れた所定の離隔位置に達したときに、解除動作のためのカム作用を行わせるべく、カム部材４２の他側部４２ｅを当接させてカム部材４２のみの移動を規制するようになっている。As shown in FIGS. 3A and 3B, the second stopper 47 is disposed on the right end (side away from the rack R) on the movable table 32 in the drawing direction (Y direction).
Then, the second stopper 47 performs a cam action for the releasing operation when the movable holder 41 moves rightward in the drawing direction (Y direction) and reaches a predetermined separation position away from the rack R. Accordingly, the other side portion 42e of the cam member 42 is brought into contact with the cam member 42 to restrict the movement of the cam member 42 alone.

上記のように、引出ユニット４０として、把持部材（上側アーム部材４３及び下側アーム部材４４）、把持部材にカム作用を及ぼすことにより部品Ｗの把持動作及び解除動作を行わせるカム部材４２、駆動機構（可動ホルダ４１、第１ストッパ４６、第２ストッパ４７等）を採用したことにより、複数のアクチュエータ等を用いる場合に比べて、構造の簡素化を達成しつつ、所望のタイミングで確実に部品Ｗを把持して引き出し、供給エリアＡ１に円滑に移送することができ、稼動効率及び生産性を向上させることができる。
特に、把持部材として、二つの上側アーム部材４３及び下側アーム部材４４を採用したことにより、駆動機構の構造を簡素化しつつ、把持動作→引出動作→解除動作を所定のタイミングで高精度に、かつ円滑に行わせることができる。
また、カム部材４２は、その上端縁及び下端縁において上側カム部４２ｂ及び下側カム部４２ｃを画定する端面カムであるためカム部材４２の形状を簡素化することができ、又、上側フォロワピン４３ｂ及び下側フォロワピン４４ｂがそれぞれ上側カム部４２ｂ及び下側カム部４２ｃに係合するように引張りバネ４８により引き寄せられると共に、上側フォロワピン４３ｂ及び下側フォロワピン４４ｂが可動ホルダ４１の縦長孔４１ｂにガイドされる役割を兼ねるため、部品点数の削減、構造の簡素化等を達成しつつ、円滑で確実なカム作用を得ることができる。As described above, as the drawer unit 40, the gripping members (upper arm member 43 and lower arm member 44), the cam member 42 that causes the gripping member to perform the gripping operation and the releasing operation of the component W by performing a cam action, the drive By adopting the mechanism (movable holder 41, first stopper 46, second stopper 47, etc.), the structure is simplified and the components are reliably delivered at a desired timing as compared with the case where a plurality of actuators are used. W can be gripped and pulled out, and can be smoothly transferred to the supply area A1, so that the operation efficiency and productivity can be improved.
In particular, by adopting the two upper arm members 43 and the lower arm member 44 as the gripping member, while simplifying the structure of the drive mechanism, the gripping operation → the drawing operation → the releasing operation with high accuracy at a predetermined timing, And it can be performed smoothly.
Further, since the cam member 42 is an end face cam that defines the upper cam portion 42b and the lower cam portion 42c at the upper edge and the lower edge thereof, the shape of the cam member 42 can be simplified, and the upper follower pin 43b. The lower follower pin 44b is attracted by the tension spring 48 so as to engage with the upper cam portion 42b and the lower cam portion 42c, respectively. Therefore, a smooth and reliable cam action can be obtained while reducing the number of parts and simplifying the structure.

搬送ユニット５０は、図３Ａ及び図３Ｂに示すように、引き出された部品Ｗを担持し得る無端状の搬送ベルト５１、搬送ベルト５１が巻回された複数の従動プーリ５２、駆動プーリ５３、駆動プーリ５３を回転駆動するモータ５４等を備えている。
そして、モータ５４が回転すると、引き出された部品Ｗを担持して下流側の供給エリアＡ１に向けて搬送するようになっている。
このように、引出ユニット４０により引き出された部品Ｗを担持して搬送する搬送ユニット５０を設けることにより、引き出された部品Ｗを最適なタイミングで下流側の供給エリアＡ１に移送することができる。3A and 3B, the transport unit 50 includes an endless transport belt 51 that can carry the drawn-out component W, a plurality of driven pulleys 52 around which the transport belt 51 is wound, a drive pulley 53, a drive A motor 54 for rotating the pulley 53 is provided.
When the motor 54 rotates, it carries the drawn-out component W and conveys it toward the downstream supply area A1.
As described above, by providing the transport unit 50 that carries and transports the component W pulled out by the pull-out unit 40, the pulled-out component W can be transferred to the downstream supply area A1 at an optimal timing.

押出ユニット６０は、図１及び図２に示すように、部品Ｗの縁部に当接する押出ロッド６１、押出ロッド６１を往復動させるクランク部材６２、クランク部材６２を回転駆動するモータ６３等を備えている。
押出ロッド６１は、搬送面Ｓの位置において、引出方向（Ｙ方向）に所定量だけ往復動するように形成されている。
そして、モータ６３が回転して、クランク部材６２が所定角度回転すると、押出ロッド６１が、ラックＲ内に入り込んで、搬送面Ｓに位置決めされた部品ＷをラックＲから所定量だけ把持部材（上側アーム部材４３及び下側アーム部材４４）又は搬送ユニット５０側に向けて押し出すようになっている。
このように、押出ユニット６０により予め部品Ｗを所定量だけ押し出すことで、部品Ｗが狭い間隔で複数段に配列されている場合であっても、引出ユニット４０は押し出された部品Ｗの先端領域を確実に把持することができる。また、押出ユニット６０は部品Ｗを所定量だけ押し出すため、従来のような長いストロークが不要であり、構造の簡素化、装置の小型化を達成することができる。As shown in FIGS. 1 and 2, the extrusion unit 60 includes an extrusion rod 61 that contacts the edge of the component W, a crank member 62 that reciprocates the extrusion rod 61, a motor 63 that rotationally drives the crank member 62, and the like. ing.
The push rod 61 is formed to reciprocate by a predetermined amount in the drawing direction (Y direction) at the position of the transport surface S.
Then, when the motor 63 rotates and the crank member 62 rotates by a predetermined angle, the push rod 61 enters the rack R, and the component W positioned on the conveying surface S is held from the rack R by a predetermined amount (on the upper side). The arm member 43 and the lower arm member 44) are pushed out toward the transport unit 50 side.
Thus, even if the parts W are arranged in a plurality of stages at a narrow interval by extruding the parts W by a predetermined amount in advance by the extruding unit 60, the drawing unit 40 has the leading end region of the extruded parts W. Can be securely gripped. Further, since the extrusion unit 60 pushes out the part W by a predetermined amount, a long stroke as in the conventional case is unnecessary, and the structure can be simplified and the apparatus can be downsized.

次に、上記部品移送装置の動作（移送方法）について、図１１ないし図１６を参照しつつ説明する。
先ず、図１１に示すように、部品Ｗが複数段に亘って収納されたラックＲが昇降ユニット２０に搬入されて保持されると、昇降ユニット２０が昇降して、最初に取り出される部品Ｗを所定高さの搬送面Ｓに位置決めする（保持ステップ、昇降ステップ）。このとき、引出ユニット４０は、上側アーム部材４３及び下側アーム部材４４の上側当接部４３ａ及び下側当接部４４ａがお互いに近づいた状態で、搬送面Ｓから下方に待避した位置に停止している。Next, the operation (transfer method) of the component transfer device will be described with reference to FIGS.
First, as shown in FIG. 11, when the rack R in which the parts W are stored in a plurality of stages is loaded and held in the lifting unit 20, the lifting unit 20 moves up and down, and the part W to be taken out first is removed. Positioning is performed on the conveying surface S having a predetermined height (holding step, lifting step). At this time, the drawer unit 40 stops at a position where the upper arm member 43 and the lower arm member 44 of the upper arm member 43 and the lower arm member 44 are retracted downward from the transport surface S with the upper and lower contact portions 43a and 44a approaching each other. is doing.

続いて、搬送面Ｓに位置決めされた部品Ｗをセンサ（不図示）等により検出すると、図１２に示すように、押出ユニット６０が作動して、その部品Ｗを所定量だけラックＲから右向きに押し出す（押出ステップ）。また、可動ホルダ４１は引出方向（Ｙ方向）の左向きに移動して待機位置Ｐ０に至る。ここで、引出ユニット４０及び搬送ユニット５０がＸ方向の所定位置からずれている場合、可動テーブル３１をＸ方向に適宜駆動して、その位置ずれが補正される。Subsequently, when the component W positioned on the conveying surface S is detected by a sensor (not shown) or the like, as shown in FIG. 12, the push-out unit 60 operates to move the component W rightward from the rack R by a predetermined amount. Extrude (extrusion step). The movable holder 41 reaches the standby position P 0 moves to the left in the pull-out direction (Y-direction). Here, when the drawer unit 40 and the conveyance unit 50 are displaced from the predetermined position in the X direction, the movable table 31 is appropriately driven in the X direction, and the positional displacement is corrected.

続いて、図１３に示すように、押出ユニット６０による部品Ｗの押出動作が完了すると、押出ユニット６０（押出ロッド６１）は待機位置に戻る。そして、可動ホルダ４１が左向きに移動してラックＲに近接した近接位置に達すると、カム部材４２の一側部４２ｄが第１ストッパ４６に当接してカム部材４２の左向きの移動が規制され、可動ホルダ４１がさらに左向きに所定量だけ移動して把持位置Ｐ１に至る間に、上側アーム部材４３（の上側当接部４３ａ）及び下側アーム部材４４（の下側当接部４４ａ）が所定量だけ上昇して、上側アーム部材４３（の上側当接部４３ａ）を搬送面Ｓより上方に位置付け、下側アーム部材４４（の下側当接部４４ａ）を搬送面Ｓより下方に位置付け、上側当接部４３ａと下側当接部４４ａとが離れた状態を維持したまま、部品Ｗを上側当接部４３ａと下側当接部４４ａとの間に位置付ける。そして、部品Ｗの上下方向Ｚから近づいて部品Ｗの先端領域を把持する。Subsequently, as shown in FIG. 13, when the pushing operation of the part W by the pushing unit 60 is completed, the pushing unit 60 (the pushing rod 61) returns to the standby position. When the movable holder 41 moves leftward and reaches a close position close to the rack R, one side portion 42d of the cam member 42 contacts the first stopper 46 and the leftward movement of the cam member 42 is restricted. while moving by a predetermined amount in the movable holder 41 is further left reaches the gripping position P 1, the upper arm member 43 (the upper contact portion 43a) and the lower arm member 44 (the lower contact portion 44a of) the Raised by a predetermined amount, the upper arm member 43 (upper contact portion 43a thereof) is positioned above the transport surface S, and the lower arm member 44 (lower contact portion 44a) is positioned below the transport surface S. The component W is positioned between the upper contact portion 43a and the lower contact portion 44a while maintaining the state where the upper contact portion 43a and the lower contact portion 44a are separated from each other. Then, the front end region of the component W is grasped by approaching from the vertical direction Z of the component W.

続いて、上側アーム部材４３及び下側アーム部材４４が部品Ｗを把持した状態で、図１４に示すように、可動ホルダ４１が引出方向（Ｙ方向）の右向きに移動して、ラックＲから離れた離隔位置に達すると、カム部材４２の他側部４２ｅが第２ストッパ４７に当接してカム部材４２の右向きの移動が規制され、可動ホルダ４１がさらに右向きに所定量だけ移動して解除位置Ｐ２に至る間に、上側アーム部材４３（の上側当接部４３ａ）及び下側アーム部材４４（の下側当接部４４ａ）が部品Ｗから上下方向Ｚに離れて部品Ｗを解除する（引出ステップ）。Subsequently, with the upper arm member 43 and the lower arm member 44 gripping the component W, the movable holder 41 moves rightward in the pulling direction (Y direction) as shown in FIG. When the separated position is reached, the other side portion 42e of the cam member 42 abuts against the second stopper 47 and the rightward movement of the cam member 42 is restricted, and the movable holder 41 is further moved rightward by a predetermined amount to release the position. while leading to P 2, the upper arm member 43 (the upper contact portion 43a) and the lower arm member 44 (the lower contact portion 44a of) releases the component W away from the component W in the vertical direction Z ( Withdrawal step).

続いて、図１５に示すように、可動ホルダ４１がさらに右向きに移動して待避位置Ｐ３に至る間に、カム部材４２のカム作用により、上側アーム部材４３及び下側アーム部材４４が、搬送面Ｓから下方に所定量だけ下降して待避動作が完了する。また、昇降ユニット２０が１ステップ上昇して、次の部品Ｗを所定高さの搬送面Ｓに位置決めする。
このように、カム部材４２のカム作用により、上側アーム部材４３及び下側アーム部材４４が部品Ｗを引き出した後、上側アーム部材４３及び下側アーム部材４４を搬送面Ｓから下方に待避させるため、部品Ｗの移送をより円滑に行うことができると共に、把持動作→引出動作→解除動作→待避動作を最適なタイミングで確実に行わせることができる。Subsequently, as shown in FIG. 15, while reaching the retracted position P 3 movable holder 41 is further moved to the right, by the cam action of the cam member 42, the upper arm member 43 and the lower arm member 44, the transport The escape operation is completed by descending from the surface S by a predetermined amount. Further, the elevating unit 20 moves up one step, and positions the next component W on the conveying surface S having a predetermined height.
As described above, the upper arm member 43 and the lower arm member 44 pull out the component W by the cam action of the cam member 42, and then the upper arm member 43 and the lower arm member 44 are retracted downward from the conveying surface S. The parts W can be transported more smoothly, and the gripping operation → the drawing operation → the releasing operation → the retracting operation can be surely performed at an optimal timing.

その後、図１６に示すように、引き出された部品Ｗは、搬送ユニット５０により担持されて供給エリアＡ１に搬送される（搬送ステップ）。または、引き出された部品Ｗは、搬送ユニット５０上に担持された後、供給エリアＡ１の所定の受け取り位置に向けて、搬送ユニット５０により搬送される。ここで、搬送ユニット５０による搬送動作は、所望の最適なタイミングで行われる。
また、搬送ユニット５０により部品Ｗが搬送されている最中に、可動ホルダ４１は、左向きに移動して待機位置Ｐ０に至る。
上記の昇降ステップ（昇降動作及び位置決め動作）→押出ステップ（押出動作）→引出ステップ（把持動作→引出動作→解除動作→待避動作）→搬送ステップ（搬送動作）等からなる一連の動作が、全ての部品Ｗに対して繰り返し行われる。
以上述べたように、この部品移送装置及び方法によれば、構造の簡素化、小型化、低コスト化等を達成しつつ、ラックＲ等に収納された基板等の部品Ｗを取り出して所定の供給エリアＡ１に円滑に移送することができ、全体として稼動効率及び生産性を向上させることができる。After that, as shown in FIG. 16, the pulled-out component W is carried by the transport unit 50 and transported to the supply area A1 (transport step). Alternatively, the drawn part W is carried on the transport unit 50 and then transported by the transport unit 50 toward a predetermined receiving position in the supply area A1. Here, the transport operation by the transport unit 50 is performed at a desired optimum timing.
Further, while the component W is being transported by the transport unit 50, the movable holder 41 moves leftward and reaches the standby position P0.
A series of operations consisting of the above lifting steps (lifting and positioning operations) → extrusion step (extrusion operation) → drawing step (gripping operation → drawing operation → releasing operation → retraction operation) → conveying step (conveying operation), etc. This is repeated for the part W.
As described above, according to the component transfer apparatus and method, the components W such as the substrate stored in the rack R or the like are taken out while the structure is simplified, downsized, and the cost is reduced. It can be smoothly transferred to the supply area A1, and the operation efficiency and productivity can be improved as a whole.

上記実施形態においては、保持機構として、ラックＲを昇降させて位置決めする昇降ユニット２０を含む場合を示したが、これに限定されるものではなく、部品Ｗを直接載置するだけで所定高さの搬送面に位置決めして保持する載置台、あるいは、部品Ｗを直接載置して昇降し所定高さの搬送面に位置決めする昇降テーブル等を採用してもよい。
上記実施形態においては、引出ユニット４０として、引出方向（Ｙ方向）に往復動して上下方向Ｚにカム作用を及ぼすカム部材４２、二つのアーム部材４３，４４からなる把持部材を含む構成を示したが、これに限定されるものではなく、カム作用により把持部材に把持動作及び解除動作を行わせるものであれば、例えば、回転してカム作用を及ぼす円板カム等を採用してもよく、又、上下方向Ｚから離脱可能に部品Ｗを把持するものであれば、弾性変形可能に一体的に形成された二つの指先片をもつ可撓性の把持部材を採用してもよい。
上記実施形態においては、カム部材として、上端縁及び下端縁により画定された上側カム部４２ｂ及び下側カム部４２ｃをもつ端面カムを採用した場合を示したが、これに限定されるものではなく、上側フォロワピン４３ｂ及び下側フォロワピン４４ｂを挿入するカム溝を有する溝カムを採用してもよい。この場合、上側フォロワピン４３ｂ及び下側フォロワピン４４ｂをカム溝に常に係合させることができるため、引張りバネ４８を廃止することができる。In the above-described embodiment, the case where the holding mechanism includes the lifting unit 20 that moves the rack R up and down and positions it is shown. However, the holding mechanism is not limited to this. A mounting table that is positioned and held on the transport surface, or a lifting table that directly mounts the component W and moves it up and down to position it on the transport surface of a predetermined height may be employed.
In the above embodiment, the drawing unit 40 includes a cam member 42 that reciprocates in the drawing direction (Y direction) and exerts a cam action in the vertical direction Z, and a gripping member that includes two arm members 43 and 44. However, the present invention is not limited to this, and for example, a disc cam that rotates and exerts a cam action may be adopted as long as the gripping member performs a gripping action and a releasing action by a cam action. In addition, as long as the component W is separable from the vertical direction Z, a flexible gripping member having two fingertip pieces integrally formed so as to be elastically deformable may be employed.
In the above embodiment, the case where the end face cam having the upper cam portion 42b and the lower cam portion 42c defined by the upper end edge and the lower end edge is employed as the cam member is shown, but the present invention is not limited to this. A groove cam having a cam groove into which the upper follower pin 43b and the lower follower pin 44b are inserted may be employed. In this case, since the upper follower pin 43b and the lower follower pin 44b can always be engaged with the cam groove, the tension spring 48 can be eliminated.

以上述べたように、本発明の部品移送装置は、構造の簡素化、小型化、低コスト化等を達成しつつ、ラック等に収納された基板等の部品を取り出して所定の供給エリアに円滑に移送でき、稼動効率及び生産性を向上させることができるため、電子機器の部品を移送する製造ライン、機械部品を移送する製造ライン等において利用できるのは勿論のこと、その他の分野の部品を移送する移送ラインあるいは製造ライン等においても有用である。

As described above, the component transfer equipment of the present invention, simplification of the structure, size reduction, while achieving cost reduction, etc., is taken out components such as a substrate accommodated in the rack or the like to a predetermined supply area It can be transferred smoothly and can improve operation efficiency and productivity, so it can be used in production lines that transfer parts of electronic equipment, production lines that transfer machine parts, and other parts in other fields. It is also useful in a transfer line, a production line, etc.

Claims (6)

部品を所定高さの搬送面に位置決めして保持する保持機構と、前記保持機構に保持された部品を水平方向に引き出す引出ユニットとを備え、
前記引出ユニットは、部品を上下方向から離脱可能に把持し得る把持部材と、前記把持部材に対してカム作用を及ぼすことにより所定のタイミングで部品の把持動作及び部品の解除動作を行わせるカム部材と、前記カム部材及び把持部材を駆動する駆動機構を含み、
前記把持部材は、部品の上面に対して離脱可能に当接し得る上側当接部を有する上側アーム部材と、部品の下面に対して離脱可能に当接し得る下側当接部を有する下側アーム部材を含み、
前記カム部材は、部品の引出方向に往復動自在にガイドされる被ガイド部と、前記上側アーム部材に上下動のカム作用を及ぼす上側カム部と、前記下側アーム部材に上下動のカム作用を及ぼす下側カム部を含み、
前記駆動機構は、前記被ガイド部を前記引出方向の所定範囲に亘ってガイドする水平ガイド部，前記上側アーム部材及び下側アーム部材を上下方向の所定範囲に亘ってガイドする垂直ガイド部を有し，前記引出方向に往復動する可動ホルダと、前記可動ホルダが部品に近接する前記引出方向の一方側の所定位置に達したときに前記把持動作のためのカム作用を行わせるべく前記カム部材の移動のみを規制する第１ストッパと、前記可動ホルダが前記引出方向の他方側の所定位置に達したときに前記解除動作のためのカム作用を行わせるべく前記カム部材の移動のみを規制する第２ストッパを含む、
部品移送装置。A holding mechanism that positions and holds the component on the conveying surface of a predetermined height, and a drawer unit that pulls out the component held by the holding mechanism in a horizontal direction,
The drawer unit includes a gripping member capable of gripping a component so as to be detachable from the vertical direction, and a cam member that performs a gripping operation and a component releasing operation at a predetermined timing by exerting a cam action on the gripping member. When, seen including a driving mechanism for driving the cam member and the gripping member,
The gripping member includes an upper arm member having an upper contact portion that can removably contact the upper surface of the component, and a lower arm having a lower contact portion that can removably contact the lower surface of the component. Including members,
The cam member includes a guided portion that is guided so as to freely reciprocate in a component drawing direction, an upper cam portion that exerts a vertical cam action on the upper arm member, and a vertical cam action on the lower arm member. Including the lower cam part
The drive mechanism has a horizontal guide portion that guides the guided portion over a predetermined range in the pull-out direction, and a vertical guide portion that guides the upper arm member and the lower arm member over a predetermined range in the vertical direction. A movable holder that reciprocates in the pull-out direction, and the cam member to perform a cam action for the gripping operation when the movable holder reaches a predetermined position on one side in the pull-out direction close to a component. A first stopper that restricts only the movement of the cam member, and restricts only the movement of the cam member so as to perform a cam action for the releasing operation when the movable holder reaches a predetermined position on the other side in the pull-out direction. Including a second stopper,
Parts transfer device. 前記カム部材は、前記把持部材に対してカム作用を及ぼす領域として、前記把持部材を前記所定高さよりも下方の位置に待避させると共にその先端同士を近接させる待避領域、前記把持部材を前記所定高さの位置に上昇させると共にその先端同士を離隔させる離隔領域、及び前記把持部材の先端同士を近接させると共に部品を挟み込んで把持する把持領域を有する、
ことを特徴とする請求項１に記載の部品移送装置。The cam member is a region that exerts a cam action on the gripping member, retracts the gripping member to a position below the predetermined height and closes the tips of the gripping member, and moves the gripping member to the predetermined height. A separation region that raises the tip of the gripping member and separates the tips of the gripping member, and a gripping region that grips the component while holding the tips of the gripping members close to each other.
The component transfer apparatus according to claim 1 . 前記把持部材は、
前記駆動機構により部品に近接する前記引出方向の一方側に移動させられるとき、前記カム部材における前記待避領域から前記離隔領域を経て前記把持領域に案内されて、前記所定高さの位置に上昇すると共に部品を挟みこんで把持し、
前記駆動機構により部品を把持した状態で前記引出方向の他方側に移動させられるとき、前記カム部材における前記把持領域から前記離隔領域を経て前記待避領域に案内されて、把持した部品を解除すると共に前記所定高さよりも下方の位置に退避する、
ことを特徴とする請求項２に記載の部品移送装置。 The gripping member is
When the drive mechanism is moved to one side in the pull-out direction close to the part, the cam member is guided from the retracted area to the gripping area through the separation area and ascends to the predetermined height position. And hold the parts together,
When the component is moved to the other side in the pull-out direction in a state where the component is gripped by the drive mechanism, the gripped component is guided from the gripping region of the cam member through the separation region to the retracted region, and the gripped component is released. Retreat to a position below the predetermined height,
The component transfer apparatus according to claim 2 . 前記上側カム部及び下側カム部は、前記カム部材の上端縁及び下端縁に形成され、
前記上側アーム部材は、前記垂直ガイド部にガイドされると共に前記上側カム部に係合する上側フォロワ部を有し、
前記下側アーム部材は、前記垂直ガイド部にガイドされると共に前記下側カム部に係合する下側フォロワ部を有し、
前記上側フォロワ部及び下側フォロワ部には、お互いを引き寄せる引張りバネが掛止されている、
ことを特徴とする請求項１ないし３いずれか一つに記載の部品移送装置。The upper cam portion and the lower cam portion are formed at an upper end edge and a lower end edge of the cam member,
The upper arm member has an upper follower portion that is guided by the vertical guide portion and engages with the upper cam portion,
The lower arm member has a lower follower portion that is guided by the vertical guide portion and engages with the lower cam portion,
The upper follower part and the lower follower part are hooked with tension springs that draw each other.
The component transfer device according to claim 1 , wherein the component transfer device is a component transfer device. 前記引出ユニットにより引き出された部品を担持して搬送する搬送ユニットを含む、
ことを特徴とする請求項１ないし４いずれか一つに記載の部品移送装置。Including a transport unit that carries and transports the components pulled out by the drawer unit;
The component transfer device according to claim 1 , wherein the component transfer device is a component transfer device. 前記保持機構は、部品を上下方向に複数段に亘って収納するラックと、前記ラックを昇降させて位置決めする昇降ユニットを含み、
前記昇降ユニットにより前記搬送面に位置決めされた部品を、前記把持部材側に向けて所定量だけ押し出す押出ユニットを含む、
ことを特徴とする請求項１ないし５いずれか一つに記載の部品移送装置。 The holding mechanism includes a rack that accommodates components in a plurality of stages in the vertical direction, and a lifting unit that lifts and positions the rack.
Including an extrusion unit that pushes a part positioned on the transport surface by the lifting unit toward the gripping member by a predetermined amount;
The component transfer device according to claim 1 , wherein the component transfer device is a component transfer device.
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TW200911660A (en) 2009-03-16
JPWO2009025052A1 (en) 2010-11-18
TWI406798B (en) 2013-09-01
US20100202865A1 (en) 2010-08-12
CN101784464A (en) 2010-07-21
DE112007003627T5 (en) 2010-07-08
CN101784464B (en) 2012-09-12
MY159335A (en) 2016-12-30
DE112007003627B4 (en) 2017-07-13
KR20100043256A (en) 2010-04-28
US9193531B2 (en) 2015-11-24
US8696293B2 (en) 2014-04-15
US20140083818A1 (en) 2014-03-27
WO2009025052A1 (en) 2009-02-26

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